EP1181766B1 - Anlaufverfahren für eine synchronmaschine mit vektorsteuerung. - Google Patents

Anlaufverfahren für eine synchronmaschine mit vektorsteuerung. Download PDF

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Publication number
EP1181766B1
EP1181766B1 EP00927292A EP00927292A EP1181766B1 EP 1181766 B1 EP1181766 B1 EP 1181766B1 EP 00927292 A EP00927292 A EP 00927292A EP 00927292 A EP00927292 A EP 00927292A EP 1181766 B1 EP1181766 B1 EP 1181766B1
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EP
European Patent Office
Prior art keywords
stator
rotor
inductance
synchronous machine
model
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Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Lifetime
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EP00927292A
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English (en)
French (fr)
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EP1181766A1 (de
Inventor
Julius Luukko
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ABB Oy
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ABB Oy
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/20—Arrangements for starting
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/34—Arrangements for starting

Definitions

  • the present invention relates to a method of starting open-loop vector control in a synchronous machine, the method comprising the steps of determining a stator inductance model of the synchronous machine and measuring the stator inductance in a plurality of directions.
  • Vector control refers to a manner of controlling an AC motor which allows flux linkage and torque of the motor to be controlled independently like in a DC motor.
  • DC motor direct currents influencing the flux linkage and the torque are controlled, while in the AC motor both the amplitude and the phase angle of the currents have to be controlled.
  • current vectors are controlled, from which comes the term vector control.
  • the flux linkage and the current of the motor have to be known.
  • the flux linkage of the motor is generated by the action of stator and rotor currents in the inductances of the machine.
  • the rotor current has to be estimated and the estimation requires information on rotation speed of the rotor. This requires measured or estimated rotation speed of the rotor.
  • a magnetization current independent of stator magnetization is applied to the rotor, or the rotor magnetization is implemented with permanent magnets and its influence, seen from the stator, shows in the direction of the rotor position angle.
  • the position angle of the rotor has to be measured or estimated.
  • the control method When vector control of the AC motor employs a measured rotation speed or position angle of the rotor, the control method is known as the closed-loop vector control. If the rotation speed or the position angle is estimated, the control method is known as the open-loop vector control. Depending on the implementation method, a variable to be estimated can also be the stator flux linkage, apart from the rotor angle or angular speed.
  • Figure 1 shows a graphic illustration of the equation. It appears from the figure that the inductance varies around the basic value L s0 at twice the rotor angle in a magnitude indicated by the inductance coefficient L s2 .
  • the supply voltage maximum frequency of a frequency converter capable of 5 to 10 kHz switching frequency is between 500 and 1000 Hz. This is sufficient for an algorithm to function. Switching frequencies as high as this are achieved by IGBT frequency converters, but frequency converters with GTO or IGCT power switches, required at higher powers, have the maximum switching frequency of less than 1 kHz. The maximum frequency of the supply voltage in the initial angle estimation remains then below 100 Hz. At such a low frequency the machine develops torque and the algorithm becomes considerably less accurate.
  • the object of the present invention is to provide a method which avoids the above-mentioned disadvantages and enables starting of an open-loop vector control in a synchronous machine in a reliable manner.
  • This is achieved by the method of the invention which is characterized by comprising the steps of arranging measured stator inductances in a determined stator inductance model in order to form model parameters giving the minimum error, checking magnetization polarity of a rotor in order to verify the direction of the rotor magnetization, initializing flux linkages of the open-loop vector control according to the formed model parameters and the direction of the rotor magnetization, and starting the synchronous machine by the vector control method.
  • the method of the invention is based on the idea that the magnitude of the stator inductance is measured in a plurality of directions and the inductance values obtained as measurement results are arranged in the inductance model of the machine. As a result of the arrangement, very accurate information on the initial rotor angle of the synchronous machine is obtained. In addition, by utilizing the method of the invention, information on the initial value of the rotor magnetization in the stationary coordinates is obtained, and consequently the machine can be started in a reliable manner without transients or jerking startup.
  • the equation shows how the inductance depends on the rotor angle in stationary coordinates. The equation thus proves how the inductance measured in the direction of x-axis of the stator coordinates changes when the rotor is rotated a degree of an angle ⁇ r .
  • stator coordinates are rotated to the angle, in the direction of which the inductance is measured.
  • These rotatable stator coordinates are referred to as virtual stator coordinates.
  • Figure 3 illustrates various coordinates and they are indicated such that the stator coordinates are coordinates xy, the virtual stator coordinates are coordinates x'y' and the rotor coordinates are dq.
  • the inductance measuring the stator inductance of the synchronous machine is measured 3 in a plurality of directions.
  • the stator inductance measurement is advantageously effected such that the stator is fed with a voltage pulse generating a current pulse which causes flux linkage on the basis of which the inductance can be calculated.
  • the stator inductance measurement can be performed, for instance, in six directions. These six voltage vectors can readily be implemented with inverters, since the vectors correspond to inverter switch combinations, in which a positive and a negative voltage is generated between each two poles of the three-phase stator.
  • Figure 4 illustrates six current vectors and their preferable mutual order in connection with measuring.
  • a plurality of measurings can be performed in each direction.
  • the measurings are performed in the order shown in Figure 4 , i.e. measuring starts in the direction of 0°, thereafter in the direction of 180°, thereafter in the direction of 60° and so on, until all the directions are measured.
  • Figure 2 shows measured values of the stator inductance with different rotor angle values.
  • it is checked 4 after the inductance measurement 3 if the inductances of all directions determined to be measured are measured, and if not, a new direction is initialized 5 for measuring the inductance in accordance with Figure 4 .
  • the measured stator inductances are arranged 6 in the determined stator inductance model in order to form model parameters giving the minimum error.
  • Measurement data is preferably arranged in the model by using the method of least mean squares (LMS).
  • LMS least mean squares
  • a model is formed for a measurable variable, in which model the data to be measured is arranged such that the square sum is minimized.
  • the square sum refers to a sum of squares of the difference of the measured values and corresponding model values. If the model is linear, the parameters of the model can be solved in a closed form, but in a nonlinear case the question is about a numerically solvable nonlinear optimization task.
  • y L s is an inductance measured in virtual coordinates
  • ⁇ is a term for measuring error
  • the inductance model is simplified by assuming that the transient inductances L sd and L sq are previously known.
  • the transient inductances can be measured when introducing the machine by turning the rotor first in a direct-axis position supplying direct current to the stator. After the rotor is turned in the direct-axis position, the stator is supplied in the direct-axis and the quadrature-axis directions with step-like voltage pulses that cause currents on the basis of which the inductances are calculated.
  • Another option is to use the starting procedure such that, instead of solving the angle giving the minimum error, parameters L s0 and L s2 giving the minimum error are solved.
  • Minimization of a function with one variable is concerned, which can be implemented simply by a processor, for instance, by reducing the value of the target function M with a given step and by selecting a which produces the minimum value.
  • the a producing the minimum value is the solution to the initial angle, i.e. the information on the angular position of the synchronous machine rotor.
  • stator inductance is a function of twice the rotor angle
  • the above solution is only a candidate for a rotor angle. It is also possible that the solution is said candidate plus 180°. Thus it is not known for sure, whether the direction found is the north or the south pole of rotor magnetization or the permanent magnet.
  • the invention utilizes the fact that the rotor magnetization saturates the direct-axis inductance. On counter magnetization with a stator current, flux density decreases and saturation decreases, on forward magnetization vice versa. Thus, the direct-axis inductance has different magnitudes in the direction of 0° and 180°.
  • the polarity of the rotor magnetization can be found out by measuring the inductance once more in the direction 8 of the solution candidate and in the direction 10 of 180° therefrom. The inductances of both directions having been measured 9, the lower one of these inductances is selected 11, 12, 13 to be the correct rotor angle.
  • the synchronous machine used is a synchronous reluctance machine 7
  • the synchronous machine used is a synchronous reluctance machine 7
  • flux linkages are initialized 14 according to the rotor direction.
  • the objective of the initialization is to adapt the inverter control systems to the conditions in the synchronous machine. After initialization, the synchronous machine can be started in a reliable manner by utilizing any known open-loop vector control method.

Landscapes

  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Ac Motors In General (AREA)
  • Motor And Converter Starters (AREA)
  • Control Of Eletrric Generators (AREA)
  • Control Of Motors That Do Not Use Commutators (AREA)
  • Control Of Electric Motors In General (AREA)

Claims (4)

  1. Ein Anlaufverfahren für eine offene Vektorsteuerung bei einer Synchronmaschine, wobei das Verfahren die Schritte aufweist:
    Bestimmen eines Statorinduktivitätsmodells der Synchronmaschine, wobei das Statorinduktivitätsmodell die Statorinduktivität der Synchronmaschine als Funktion des Rotorwinkels definiert;
    Messen (2) der Statorinduktivität an einer Mehrzahl von Spannungsvektorrichtungen,
    dadurch gekennzeichnet, dass das Verfahren weiterhin die Schritte aufweist:
    Bilden einer Funktion, welche die Differenz der Werte aufweist, die in einer Mehrzahl von Richtungen gemessen wurden und der entsprechenden Modellwerte;
    Suchen von Modellparametern, die den Wert der obigen Funktion minimieren;
    Prüfen (11) der Magnetisierungspolarität eines Rotors, um die Richtung der Rotormagnetisierung zu verifizieren;
    Initialisieren (14) von Kraftlinienverkettungen der offenen Vektorsteuerung gemäß den gebildeten Modellparametern und der Richtung der Rotormagnetisierung; und
    Anlaufen lassen der Synchronmaschine mit dem Vektorsteuerverfahren.
  2. Das Verfahren nach Anspruch 1, dadurch gekennzeichnet, dass die Messung der Statorinduktivität der Synchronmaschine in einer Mehrzahl von Richtungen die Schritte aufweist:
    Liefern eines Spannungsimpulses an den Stator der Synchronmaschine in einer Mehrzahl unterschiedlicher Richtungen;
    Berechnen der Größen der Kraftlinienverkettungen der entsprechenden Richtungen auf der Grundlage der in unterschiedlichen Richtungen gelieferten Spannungsimpulse, der durch die Spannungsimpulse erzeugten Ströme und des Statorwiderstands; und
    Berechnen der Statorinduktivitäten entsprechender Richtungen aus den Größen der Kraftlinienverkettungen und den Strömen.
  3. Das Verfahren nach Anspruch 1 oder 2, dadurch gekennzeichnet, dass die Anordnung der gemessenen Statorinduktivitäten in dem bestimmten Statorinduktivitätsmodell den Schritt aufweist:
    Anordnen der gemessenen Statorinduktivitäten in dem bestimmten Statorinduktivitätsmodell durch das Verfahren der kleinsten Fehlerquadrate, um die Modellparameter bereit zu stellen, wobei die Modellparameter eine Lösung für einen Anfangswinkel des Rotors aufweisen.
  4. Verfahren nach einem der Ansprüche 1, 2 oder 3,
    dadurch gekennzeichnet, dass der Schritt des Prüfens der Magnetisierungspolarität des Rotors folgende Schritte aufweist:
    Messen der Statorinduktivität in der Richtung der anfänglichen Rotorwinkellösung unter Einfluss von Modellparametern, die einen minimalen Fehler ergeben, und in der Richtung von 180 elektrischen Graden ausgehend von der anfänglichen Winkellösung;
    Auswählen (11) eines Winkels mit der geringeren Statorinduktivität aus den gemessenen Induktivitäten als den anfänglichen Winkel.
EP00927292A 1999-05-19 2000-05-18 Anlaufverfahren für eine synchronmaschine mit vektorsteuerung. Expired - Lifetime EP1181766B1 (de)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
FI991144 1999-05-19
FI991144A FI108095B (fi) 1999-05-19 1999-05-19 Tahtikoneen avoimen piirin vektorisäädön käynnistysrutiini
PCT/FI2000/000446 WO2000072437A1 (en) 1999-05-19 2000-05-18 Starting procedure of open-loop vector control in synchronous machine

Publications (2)

Publication Number Publication Date
EP1181766A1 EP1181766A1 (de) 2002-02-27
EP1181766B1 true EP1181766B1 (de) 2009-04-29

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EP00927292A Expired - Lifetime EP1181766B1 (de) 1999-05-19 2000-05-18 Anlaufverfahren für eine synchronmaschine mit vektorsteuerung.

Country Status (13)

Country Link
US (1) US6498452B1 (de)
EP (1) EP1181766B1 (de)
JP (1) JP2003500999A (de)
KR (1) KR20020000893A (de)
CN (1) CN1225081C (de)
AT (1) ATE430399T1 (de)
AU (1) AU761856B2 (de)
CA (1) CA2371973A1 (de)
DE (1) DE60042113D1 (de)
FI (1) FI108095B (de)
NO (1) NO20015642D0 (de)
PL (1) PL350944A1 (de)
WO (1) WO2000072437A1 (de)

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FI112736B (fi) * 2001-05-17 2003-12-31 Abb Oy Tahtikoneen säätöön liittyvä menetelmä
FI114511B (fi) * 2001-10-24 2004-10-29 Abb Oy Menetelmä tahtikoneen roottorin asentokulman määrittämiseksi
DE10336068B4 (de) * 2003-08-06 2006-04-06 Siemens Ag Verfahren zur gesteuerten Einprägung eines Ständerstrom- und eines Drehmoment-Sollwertes für eine stromrichtergespeiste Drehfeldmaschine
WO2008003709A1 (en) * 2006-07-05 2008-01-10 Micro-Beam Sa Sensorless technology, estimation of sampled back emf voltage values and/or the sampled inductance values based on the pulse width modulation periods
CN100388618C (zh) * 2006-11-03 2008-05-14 章颉 矢量控制同步电动机的励磁方法
FR2933550B1 (fr) * 2008-07-01 2012-10-12 Schneider Toshiba Inverter Europe Sas Procede de determination des inductances d'une machine synchrone a aimants permanents
CN101984554B (zh) * 2010-12-01 2013-01-02 东元总合科技（杭州）有限公司 基于无传感器的电机启动方法
EP2493067B1 (de) * 2011-02-22 2018-04-04 ABB Oy Verfahren und Vorrichtung zur Einschätzung des Drehwinkels eines synchronen Reluktanzmotors
EP2493066B1 (de) * 2011-02-22 2017-11-08 ABB Technology Oy Verfahren und Vorrichtung zur Einschätzung des Drehwinkels und der Drehgeschwindigkeit von synchronen Reluktanzmotoren beim Start
KR101303452B1 (ko) * 2012-07-18 2013-09-05 서울과학기술대학교 산학협력단 Ｐｗｍ 을 이용한 영구 자석 동기 모터 제어 시스템
CN103346725B (zh) * 2013-07-01 2016-01-13 黑龙江大学 单片机磁链估计装置
DE102013217029A1 (de) * 2013-08-27 2015-03-05 Continental Teves Ag & Co. Ohg Verfahren zur Erfassung eines Positionswinkels eines Rotors einer Synchronmaschine
IT201600109364A1 (it) * 2016-10-28 2018-04-28 Ksb Ag Metodo ed apparato per l'adattamento delle caratteristiche magnetiche di un motore sincrono a riluttanza
JP6847268B2 (ja) * 2018-01-12 2021-03-24 三菱電機株式会社 回転機の制御装置
CN109802614B (zh) * 2019-01-01 2020-10-30 武汉船用电力推进装置研究所（中国船舶重工集团公司第七一二研究所） 一种永磁同步电机电感参数辨识系统和方法
DE102020201710A1 (de) 2020-02-11 2021-08-12 Lenze Automation Gmbh Verfahren zum Ermitteln einer Drehwinkelstellung eines Rotors einer mehrphasigen elektrischen Maschine und Frequenzumrichter

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Also Published As

Publication number Publication date
CN1350720A (zh) 2002-05-22
CN1225081C (zh) 2005-10-26
FI991144A0 (fi) 1999-05-19
CA2371973A1 (en) 2000-11-30
US6498452B1 (en) 2002-12-24
WO2000072437A1 (en) 2000-11-30
EP1181766A1 (de) 2002-02-27
PL350944A1 (en) 2003-02-24
KR20020000893A (ko) 2002-01-05
JP2003500999A (ja) 2003-01-07
NO20015642L (no) 2001-11-19
AU4572500A (en) 2000-12-12
FI991144A (fi) 2000-11-20
ATE430399T1 (de) 2009-05-15
NO20015642D0 (no) 2001-11-19
FI108095B (fi) 2001-11-15
DE60042113D1 (de) 2009-06-10
AU761856B2 (en) 2003-06-12

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